CN106272458B - A kind of spiral torsion soft robot module - Google Patents
A kind of spiral torsion soft robot module Download PDFInfo
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- CN106272458B CN106272458B CN201610792656.0A CN201610792656A CN106272458B CN 106272458 B CN106272458 B CN 106272458B CN 201610792656 A CN201610792656 A CN 201610792656A CN 106272458 B CN106272458 B CN 106272458B
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- stifled
- elastic body
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- soft robot
- helical cavity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
A kind of spiral torsion soft robot module, it is related to a kind of soft robot module.When although the bending module of existing soft robot can form super redundant mechanical arm by connecting, still lacking the degree of freedom of torsion, lead to the problem that forms of motion is single, while can also solve bending module realization omnidirectional moving, the big problem of control difficulty.It invents stifled, elastic body before the center limitation item sequentially passes through and blocks up afterwards, multiple helical cavities are machined in the elastic body, multiple helical cavities are evenly arranged in centered on center limitation item in elastic body, it is stifled before described to be arranged in the upper end of elastic body, preceding stifled and each helical cavity it is suitable for reading between be tightly connected, it is stifled after described to be arranged in the lower end of elastic body, each helical cavity is corresponding with a connecting tube, and the lower mouth of each helical cavity blocks up corresponding connecting tube after passing through and is connected.The present invention is that forms of motion is succinct, manufacture is easy, software torsion machine people easy to operate.
Description
Technical field
Present invention relates particularly to a kind of spiral torsion soft robot modules.
Background technology
In recent years, with the appearance of new material and the raising of technology is fabricated, has started software machine in world wide
The upsurge of device people research, soft robot is a kind of new thinking of robot research, is related to bionics, robotics, softwood
Material is learned and the subjects such as control, and Inspiration Sources are in the mollusk of natural imitation circle.For various task-awares, uncertainty
Negligible controllable environment, the characteristics such as traditional robot relies on high rigidity itself, high-precision, speed is fast, repeatable accuracy is good, makes
It is widely applied in industry manufacture field, field of medical device and aerospace field.However when task it is unpredictable,
When environment is not known, it is necessary to ensure the safety of machine human and environment and person interaction.Although there is many researchs to be dedicated to solving
Certainly how to allow Rigid Robot that there is soft capability, however, there remains control to ensure connecing between people or environment by software
It touches.And soft robot morphosis is simple, high-energy weight ratio, due to its intrinsic compliance, can resist external impact,
Unfavorable environmental condition, and flexible design are adapted to, it is easily fabricated, it is of low cost, it becomes more and more popular compared to traditional robot.It is soft
Body robot makes soft body structure using elastic material, theoretically has infinite number of degree of freedom, the energy with continuous modification
Power greatly reduces the uncertainty of environment；Simultaneously because in it characteristic, soft-touch is passive to be obedient to, from hard
It minimizes contact-impact power on part, the shortcomings that ensure that personal safety, compensate for rigid machine people, therefore is mainly used for being clamped
Device, ectoskeleton, super redundant mechanical arm and some occasions that need not be accurately controlled.
It is found through Research Literature, structure and control of a large amount of work at present for developing bend actuator, shape memory
Alloy and electroactive polymer can be fabricated directly into warp architecture, while the characteristic measurement experiment in relation to being bent module is also a large amount of
Carry out.Such as Harvard University, the Wu Site Institute of Technology, MIT, the silicon rubber based on gas-powered of the developments such as National University of Singapore
Software is bent module etc..And the research in relation to reversing software module is seldom, remains at the prototype stage.But software torsion modulus
There are many special advantages relative to bending module, equally have wide practical use.From the bionical angle of software, examine
The motion mode of animal, such as the limbs of humans and animals, joint, not only have flecition, also there is torsion；Many softwares
Reptile such as snake, the bodies such as earthworm can also realize distortion.From by narrow space angle, twist motion is easier to overcome resistance
Power makes soft body defonnation, to pass through narrow cavity.From forms of motion angle, although bending module can pass through series connection
Super redundant mechanical arm is formed, but still lacks the degree of freedom of torsion, causes forms of motion single, some spatial positions and posture
It is not easy to reach.From control angle, although three chambers bending module can realize the movement of omnidirectional, each chamber complexity is needed
Cooperation, prodigious difficulty is increased to control.
Invention content
The object of the present invention is to provide a kind of spiral torsion soft robot modules, to solve existing soft robot
Although super redundant mechanical arm can be formed by connecting by being bent module, still lacks the degree of freedom of torsion, cause to move shape
The single problem of formula, at the same also can solve bending module realize omnidirectional moving when, the big problem of control difficulty.
To solve the above-mentioned problems, the present invention provides a kind of spiral torsion soft robot module, including elasticity are main
Body, rear stifled, center limitation item and preceding stifled, stifled, elastic body and rear stifled before the center limitation item sequentially passes through, the elasticity is main
It is machined with multiple helical cavities in vivo, multiple helical cavities are evenly arranged in elastic body centered on center limitation item
It is interior, it is stifled before described to be arranged in the upper end of elastic body, preceding stifled and each helical cavity it is suitable for reading between be tightly connected, after described
Stifled to be arranged in the lower end of elastic body, each helical cavity is corresponding with a connecting tube, and the lower mouth of each helical cavity is logical
Later corresponding connecting tube is blocked up to be connected.
Elastic body is cylinder made of elastic silica gel, and center limits the central axis and elastic body of a length direction
The central axis of length direction coincides.
It blocks up afterwards and preceding block up is cylinder made of elastic silica gel, the stifled upper end for being fixedly connected on elastic body before described,
The stifled lower end for being fixedly connected on elastic body after described, the elastic body, rear stifled and preceding stifled coaxial arrangement.
The number at least two of helical cavity, radial direction uniform cloth of multiple helical cavities along elastic body
It sets.
The multiple through-holes being arranged in a one-to-one correspondence with helical cavity are machined in blocking up afterwards, one is correspondingly arranged in each through-hole
The upper end of root inner tube, the corresponding helical cavity in one end of inner tube is connected, the other end of inner tube and the helical cavity
Corresponding connecting tube is connected.
Compared with prior art, the invention has the advantages that：
1, the present invention can bear the extruding force of high intensity without any rigid parts, and structural form is succinct, be easy to add
Work manufactures, and connecting tube is that helical cavity is pressurizeed, using between the helical cavity under pressurized state and center limitation item
Strain differential, be not required to the torsional deflection campaign that different angle can be realized in additional actuated element.Three-dimensional working space can be reached
Any position point, action execution efficiency is high, and driving is efficient.
2, the present invention realizes the twist motion of spiral torsion machine people module, can be further used for combining bending, stretch
Contracting module builds soft robot system platform.
3, the present invention uses a kind of spiral cavity type structure, by using the helical cavity of different characteristic parameter, Neng Goushi
Existing different torsion effect.The speed and amplitude that control its torsion can be realized by controlling forcing for helical cavity.It is turned round
Between turning end face where maximum angle is happened at place end face suitable for reading and lower mouth, by the place end face suitable for reading of helical cavity and
Twist motion is realized in end face where lower mouth.
4, the present invention has wide range of applications, and for connecting with bending module, elongated modules, forms super redundant mechanical arm, uses
In Minimally Invasive Surgery.Also can be used in clamper, auxiliary medical equipment and other equipment.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the main structure diagram of the present invention；
Fig. 3 is the right view of Fig. 2；
Fig. 4 is the sectional view at I-I in Fig. 2；
Fig. 5 is the sectional view at II-II in Fig. 3.
Specific implementation mode
Carry out the embodiment that the present invention will be described in detail below with reference to drawings and examples, how the present invention is applied whereby
Technological means solves technical problem, and reaches and realize that the technical process of effect can be fully understood and implemented, and needs
Bright, as long as not constituting conflict, each feature in each embodiment of the invention and each embodiment can be tied mutually
It closes, is formed by technical solution within protection scope of the present invention.
Specific implementation mode one：Illustrate that present embodiment, present embodiment include in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5
Elastic body 6 blocks up 2, center limitation item 4 and preceding stifled 5 afterwards, the center limitation item 4 sequentially pass through before stifled 5, elastic body 6 and after
2 are blocked up, multiple helical cavities 3 are machined in the elastic body 6, multiple helical cavities 3 are equal centered on center limitation item 4
Even to be arranged in elastic body 6, stifled 5 are arranged in the upper end of elastic body 6 before described, and preceding stifled 5 is upper with each helical cavity 3
It is tightly connected between mouthful, blocking up 2 after described is arranged in the lower end of elastic body 6, and each helical cavity 3 is corresponding with a connecting tube
1, the lower mouth of each helical cavity 3 blocks up 2 corresponding connecting tubes 1 after passing through and is connected.
The present invention is that forms of motion is succinct, manufacture is easy, software torsion machine people easy to operate.
The present invention use the embedded helical cavity 3 of pressure-driven, by configure 3 numbers of different helical cavities and
The size of pressure realizes the torsion of different angle.
Preceding stifled 5 for blocking the suitable for reading of each helical cavity 3 in the present invention, and connecting tube 1 is communicated with air pump or hydraulic pump,
For giving its corresponding helical cavity 3 to inflate.
In the present invention when the air pressure of helical cavity 3 increases, windup-degree increases, and can realize the torsion of 0 to 90 degree range
Turn.
Specific implementation mode two：Present embodiment is further limiting for specific implementation mode one, and present embodiment is hit by a bullet
Property main body 6 be cylinder made of elastic silica gel, center limits central axis and the 6 length side of elastic body of 4 length direction of item
To central axis coincide.
Elastic body 6 in the present invention is cylinder made of elastic silica gel, specially by super-elasticity silastic material system
At cylinder.
The actuation techniques that the present invention relies on are pneumatically or hydraulically to carry out braking deformation, other can realize the stream of actuating deformation
Body elasticity body can also be used.
Specific implementation mode two：Present embodiment is further limiting for specific implementation mode one, and present embodiment is hit by a bullet
Property main body 6 be cylinder made of elastic silica gel, center limits central axis and the 6 length side of elastic body of 4 length direction of item
To central axis coincide.
The center limitation item 4 of the present invention is cylinder, and center limits the central axis and elastic body 6 of 4 length direction of item
The central axis of length direction coincides, meanwhile, the lateral surface of center limitation item 4 is matched with 6 inner cylinder face of elastic body.
Specific implementation mode three：Present embodiment is that specific implementation mode two further limits, in present embodiment after
Stifled 2 and preceding stifled 5 be cylinder made of elastic silica gel, 5 upper ends for being fixedly connected on elastic body 6 is blocked up before described, after described
Stifled 2 are fixedly connected on the lower end of elastic body 6, the elastic body 6, rear stifled 2 and preceding stifled 5 coaxial arrangement.
Although preceding stifled 5 be cylinder made of elastic silica gel in the present invention, it is harder compared with elastic body 6, favorably
In output torsional angular displacement and twisting resistance.The hardness for blocking up 2 afterwards blocks up 5 big, the output ends as torsional deflection and twisting resistance compared to preceding,
Connecting tube 1 is tube body made of silica gel, center limitation item 4 using cotton thread or other soft can only rotate but cannot be axial
Body made of flexible material.
Specific implementation mode four：Present embodiment is further limiting for specific implementation mode one to three, present embodiment
The number at least two of middle helical cavity 3, multiple helical cavities 3 are evenly arranged along the radial direction of elastic body 6.
The number of helical cavity 3 described in present embodiment is at least two, but must assure that it is circumferentially equidistantly right
Distribution is claimed to can be achieved with reversing along the axis direction of vertical spring main body 6.
Specific implementation mode five：Present embodiment is that specific implementation mode four further limits, in present embodiment after
It is machined with the multiple through-holes 7 being arranged in a one-to-one correspondence with helical cavity 3 in stifled 2, the corresponding spiral in one end of each through-hole 7
The lower end of shape inner cavity 3 is connected, and corresponding with the helical cavity 3 connecting tube of the other end of through-hole 1 is connected.
Helical cavity 3 is distributed on along the radial direction of elastic body 6 in elastic body 6 in the present invention, helical cavity 3
The corresponding alignment setting of connecting tube 1 is used for, to the importing of driving inner cavity and export driving pressure, realizing by the variation of pressure
The movement of different torsion angles.
It is correspondingly arranged on an inner tube in the present invention in each through-hole 7, the corresponding helical cavity 3 in one end of inner tube
Upper end be connected, corresponding with the helical cavity 3 connecting tube of the other end of inner tube 1 is connected.
Claims (4)
1. a kind of spiral torsion soft robot module, which is characterized in that including elastic body (6), block up (2), center limit afterwards
Item (4) processed and preceding stifled (5), the center limitation item (4) stifled (5), elastic body (6) and rear stifled (2), bullet before sequentially passing through
Property main body (6) in be machined with multiple helical cavities (3), multiple helical cavities (3) centered on center limitation item (4) uniformly
It is interior to be arranged in elastic body (6), stifled (5) setting is in the upper end of elastic body (6), preceding stifled (5) and each spiral shape before described
Chamber (3) it is suitable for reading between be tightly connected, stifled (2) are arranged in the lower end of elastic body (6), each helical cavity (3) after described
It is corresponding with a connecting tube (1), the lower mouth of each helical cavity (3) blocks up (2) corresponding connecting tube (1) after passing through and is connected
It is logical；
Elastic body (6) is cylinder made of elastic silica gel, and center limits the central axis and elasticity master of item (4) length direction
The central axis of body (6) length direction coincides, and center limitation item (4) use can only rotate rather than the material of axial stretching is made
Body.
2. a kind of spiral torsion soft robot module according to claim 1, it is characterised in that：Afterwards block up (2) and before
Stifled (5) are cylinder made of elastic silica gel, and stifled (5) are fixedly connected on the upper end of elastic body (6) before described, stifled after described
(2) lower end of elastic body (6), the elastic body (6), afterwards stifled (2) and preceding stifled (5) coaxial arrangement are fixedly connected on.
3. a kind of spiral torsion soft robot module according to claim 2, it is characterised in that：Helical cavity
(3) number at least two, multiple helical cavities (3) are evenly arranged along the radial direction of elastic body (6).
4. a kind of spiral torsion soft robot module according to claim 3, it is characterised in that：It blocks up in (2) and adds afterwards
Work has a multiple through-holes (7) being arranged in a one-to-one correspondence with helical cavity (3), the corresponding spiral in one end of each through-hole (7)
The lower end of shape inner cavity (3) is connected, and the other end of through-hole (7) connecting tube (1) corresponding with helical cavity (3) is connected
It is logical.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792656.0A CN106272458B (en) | 2016-08-31 | 2016-08-31 | A kind of spiral torsion soft robot module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792656.0A CN106272458B (en) | 2016-08-31 | 2016-08-31 | A kind of spiral torsion soft robot module |
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| CN106272458A CN106272458A (en) | 2017-01-04 |
| CN106272458B true CN106272458B (en) | 2018-10-02 |
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| CN107009386A (en) * | 2017-05-10 | 2017-08-04 | 江苏大学 | A kind of Multicarity joint for realizing soft robot spatial movement control |
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| CN109026893B (en) * | 2018-08-02 | 2020-04-14 | 浙江大学 | Full-flexible torsion actuator |
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| CN109050662B (en) * | 2018-08-02 | 2020-07-17 | 浙江大学 | Trolley driven by flexible actuator |
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| CN109719704B (en) * | 2018-11-13 | 2020-11-20 | 浙江大学 | Full-flexible bidirectional torsion actuator |
| CN111374711B (en) * | 2018-12-28 | 2023-02-17 | 深圳迈瑞生物医疗电子股份有限公司 | Rotating device and mammary gland machine |
| CN109909990A (en) * | 2019-04-25 | 2019-06-21 | 苏州柔性智能科技有限公司 | Insertion type software mechanical arm for internal medicine operation |
| JP7048538B2 (en) * | 2019-04-25 | 2022-04-05 | ファナック株式会社 | Industrial robots and how to extend their reach |
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| CN111906811A (en) * | 2020-08-10 | 2020-11-10 | 安徽大学 | Full-flexible pneumatic actuator |
| CN112428298B (en) * | 2020-11-17 | 2022-03-15 | 中国科学院宁波材料技术与工程研究所 | Soft robot arm and control system thereof |
| CN112548987A (en) * | 2020-12-15 | 2021-03-26 | 幻境虚拟现实(广州)智能科技研究院有限公司 | Flexible direction adjusting device |
| CN112518803A (en) * | 2020-12-16 | 2021-03-19 | 合肥工业大学 | Bending and twisting combined soft actuator |
| CN113334427B (en) * | 2021-04-09 | 2022-11-01 | 北京理工大学 | Flexible robot and preparation method thereof |
| CN113601494B (en) * | 2021-08-27 | 2023-09-19 | 哈尔滨理工大学 | Composite hardness soft robot module unit |
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| JP2003106327A (en) * | 2001-09-28 | 2003-04-09 | Sumio Yamazaki | Rotary shaft structure formed by two shafts |
| US7395116B2 (en) * | 2004-08-19 | 2008-07-01 | Medtronic, Inc. | Lead body-to-connector transition zone |
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| JP6752717B2 (en) * | 2014-04-02 | 2020-09-09 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Working element guide with twisted passages |
| CN105500383B (en) * | 2016-02-23 | 2018-12-07 | 哈尔滨工业大学 | A kind of soft robot module with multi-motion form |
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